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a/robot/client_socket.py +++ b/robot/client_socket.py @@ -41,7 +41,7 @@ class SocketRobotArm: command_data = None motion_type = "reset" - motion_type = "normal" + # motion_type = "normal" def __init__(self, application_path, *args, **kwargs): self.socket = None @@ -98,9 +98,9 @@ class SocketRobotArm: def motionFund(self, radians): if self.motion_type == "reset": - for index in radians: - p.resetJointState(self.urdf_manager.body_id, index, radians) - time.sleep(0.3) + for index, r in enumerate(radians): + p.resetJointState(self.urdf_manager.body_id, index, r) + time.sleep(0.3) else: p.setJointMotorControlArray( self.urdf_manager.body_id, @@ -130,7 +130,7 @@ class SocketRobotArm: time.sleep(0.5) - if False: + if True: coordinates = [float(p) * 0.001 for p in self.world_coordinates[:3]] angles = [math.radians(p) for p in self.world_coordinates[3:6]] worldJointPoses = self.convert_to_joint_base(coordinates, angles) @@ -157,6 +157,7 @@ class SocketRobotArm: position_diff = np.linalg.norm( self.world_coordinates[:3] - np.array(calcWorldPosition[:3]) ) + print([self.world_coordinates[i] - np.array(calcWorldPosition[i]) for i in range(3)]) print( "Разница между расчетом по модели и мировыми координатами:", position_diff, diff --git a/robots.json b/robots.json index 31d0c0b..555032a 100644 --- a/robots.json +++ b/robots.json @@ -23,5 +23,11 @@ "host": "127.0.0.1", "slave_id": 11, "urdf": "sample_without" + }, + { + "name": "test small WITHOUT", + "host": "127.0.0.1", + "slave_id": 11, + "urdf": "small_without" } ] \ No newline at end of file diff --git a/urdf/sample_without.urdf b/urdf/sample_without.urdf index c21f509..73dd112 100644 --- a/urdf/sample_without.urdf +++ b/urdf/sample_without.urdf @@ -159,7 +159,7 @@ - + @@ -199,6 +199,6 @@ - + \ No newline at end of file diff --git a/urdf/small_without.urdf b/urdf/small_without.urdf new file mode 100644 index 0000000..e68add4 --- /dev/null +++ b/urdf/small_without.urdf @@ -0,0 +1,176 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf_support/small/1.stl b/urdf_support/small/1.stl new file mode 100644 index 0000000..d7af3bc Binary files /dev/null and b/urdf_support/small/1.stl differ diff --git a/urdf_support/small/2.stl b/urdf_support/small/2.stl new file mode 100644 index 0000000..8a145b1 Binary files /dev/null and b/urdf_support/small/2.stl differ diff --git a/urdf_support/small/3.stl b/urdf_support/small/3.stl new file mode 100644 index 0000000..8c8ca9d Binary files /dev/null and b/urdf_support/small/3.stl differ diff --git a/urdf_support/small/4.stl b/urdf_support/small/4.stl new file mode 100644 index 0000000..76597d4 Binary files /dev/null and b/urdf_support/small/4.stl differ diff --git a/urdf_support/small/5.stl b/urdf_support/small/5.stl new file mode 100644 index 0000000..08c8928 Binary files /dev/null and b/urdf_support/small/5.stl differ diff --git a/urdf_support/small/6.stl b/urdf_support/small/6.stl new file mode 100644 index 0000000..227aeae Binary files /dev/null and b/urdf_support/small/6.stl differ diff --git a/urdf_support/small/7.stl b/urdf_support/small/7.stl new file mode 100644 index 0000000..e0e8102 Binary files /dev/null and b/urdf_support/small/7.stl differ diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py index c23916f..7f46311 100644 --- a/utils/test_socket_server.py +++ b/utils/test_socket_server.py @@ -85,6 +85,33 @@ c_angles = [ "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479], }, ] +c_small = [ + { + "world": [549.087, -803.609, 939.418, 125.479, 50.992, 63.257], + "axis": [-55.721, 12.229, -33.657, 35.030, 0.00, -1.621], + }, + { + "world": [202.361, 333.995, 1743.859, -33.7, 40.692, 12.951], + "axis": [58.637, 41.540, -2.386, -32.975, -0.052, 0.119], + }, + { + "world": [915.212, 352.196, 1110.636, -109.839, 55.517, -85.605], + "axis": [20.987, 14.281, -25.313, -32.976, -0.054, 0.117], + }, + { + "world": [915.172, 352.254, 1110.614, 179.937, 78.911, -159.077], + "axis": [20.986, 14.282, -25.313, -0.102, -0.057, 0.115], + }, + { + "world": [1165.135, 1.142, 1312.130, 179.258, 89.223, 179.259], + "axis": [0.001, -0.299, -0.416, -0.103, -0.059, 0.113], + }, + { + "world": [1410.226, 1.123, 1324.733, 0, 90, 0], + "axis": [0, -20.6, 23.854, -0.001, -3.249, 0.004], + }, +] +c_angles = c_small coordinates_index = 0